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In this thesis, a method is presented to construct minimum-time robot trajectories for predefined Cartesian end-effector path in a workspace containing obstacles. The method is preferably applied to a geometric collision-free path of a SCARA robot by using the theories of Bezier, B-spline, and parabolic blending curves. The motion of the manipulator is defined by Cartesian control points and represented by a sequence of generated Cartesian knots along the end-effector path which is transformed into sets of joint displacements with one set for each joint. Cubic spline functions are then used to fit the sequence of joint displacements for each joint. The minimum-time trajectory planning problem is formulated as the problem of minimizing the total traveling time subject to constraints on joint positions, velocities, accelerations, jerks, torques and end-effector acceleration. The modified pattern search goal programming method is proposed to solve this nonlinear optimization problem. The computer program, ROBOPATH, has been written to implement the algorithm for a manipulator with two links and two degrees of freedom. The examples show the algorithm to be a useful tool in the design of manipulators, robot tasks and workcells. The results show that different locations of a path and different path shapes resulted in different total traveling times. Also, as a result, approximation curve techniques gave shorter total traveling time than the interpolation curve technique.
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
This book deals with the problems related to planning motion laws and t- jectories for the actuation system of automatic machines, in particular for those based on electric drives, and robots. The problem of planning suitable trajectories is relevant not only for the proper use of these machines, in order to avoid undesired e?ects such as vibrations or even damages on the mech- ical structure, but also in some phases of their design and in the choice and sizing of the actuators. This is particularly true now that the concept of “el- tronic cams” has replaced, in the design of automatic machines, the classical approach based on “mechanical cams”. The choice of a particular trajectory has direct and relevant implications on several aspects of the design and use of an automatic machine, like the dimensioning of the actuators and of the reduction gears, the vibrations and e?orts generated on the machine and on the load, the tracking errors during the motion execution. For these reasons, in order to understand and appreciate the peculiarities of the di?erent techniques available for trajectory planning, besides the ma- ematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under di?erent points of view, and general considerations related to their practical use are reported.
This book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysis of serial robots. Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics. Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.
Interest in robot manipulators interacting with dynamic environments has been continuously growing because of the increasing demand for industrial robot collaboration. Human-robot collaboration and robot-robot collaboration are the two scenarios of robot collaboration that have generally been considered. The difficulties of such applications may be described from two perspectives: a good perception of environment and a proper algorithm to react to the dynamic environment for the robot manipulators. Online trajectory generation is one of the approaches for robot reaction. In the generation of the trajectory, the transformation between joint space and task space is necessary since the sensor measurement of the environment is in task space and the trajectory of the robot manipulator is in joint space. The transformation needs to be done online in a dynamic environment and hence easily results in an exponential increase of the computational load. This dissertation proposes a safety index and the associated robot safety system in order to assess and ensure the safety of the agent in the collaboration scenarios. The agent could be a human worker in human-robot collaboration or another robot in robot-robot collaboration. In the robot safety system, the online trajectory generation algorithm is formulated in the optimization-based trajectory planning framework. The safety index is evaluated using the ellipsoid coordinates attached to the robot links that represents the distance between the robot manipulator and the agent. To account for the inertial effect, the momentum of the robot links are projected onto the coordinates to generate additional measures of safety. The safety index is used as a constraint in the formulation of the optimization problem so that a collision-free trajectory within a finite time horizon is generated online iteratively for the robot to move toward the desired position. To reduce the computational load for real-time implementation, the formulated optimization problem is further approximated by a quadratic problem. Moreover, a heuristic strategy is proposed to select the active constraints for the next iteration so as to further reduce the computational load. The safety index and the proposed online trajectory generation algorithm are simulated and validated in both a two-link planar robot and a seven-DOF robot in human-robot collaboration and robot-robot collaboration. Simulation results show that the proposed algorithm and robot safety system are capable of generating collision-free and smooth trajectories online. The proposed algorithm has been extended to consider measurement noise in the agent information. Two possible approaches have been proposed for handling zero-mean Gaussian noise in the agent information.
Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
This master’s thesis presents a novel approach to finding trajectories with minimal end time for kinematically redundant manipulators. Emphasis is given to a general applicability of the developed method to industrial tasks such as gluing or welding. Minimum-time trajectories may yield economic advantages as a shorter trajectory duration results in a lower task cycle time. Whereas kinematically redundant manipulators possess increased dexterity, compared to conventional non-redundant manipulators, their inverse kinematics is not unique and requires further treatment. In this work a joint space decomposition approach is introduced that takes advantage of the closed form inverse kinematics solution of non-redundant robots. Kinematic redundancy can be fully exploited to achieve minimum-time trajectories for prescribed end-effector paths.
Selected contributions to the Workshop WAFR 2002, held December 15-17, 2002, Nice, France. This fifth biannual Workshop on Algorithmic Foundations of Robotics focuses on algorithmic issues related to robotics and automation. The design and analysis of robot algorithms raises fundamental questions in computer science, computational geometry, mechanical modeling, operations research, control theory, and associated fields. The highly selective program highlights significant new results such as algorithmic models and complexity bounds. The validation of algorithms, design concepts, or techniques is the common thread running through this focused collection.
By the dawn of the new millennium, robotics has undergone a major tra- formation in scope and dimensions. This expansion has been brought about bythematurityofthe?eldandtheadvancesinitsrelatedtechnologies.From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities,providingsupportinservices,entertainment,education,heal- care, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across - verse research areas and scienti?c disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are pr- ing an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi?cance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.